coal::CollisionGeometry Class Reference

The geometry for the object for collision or distance computation. More...

#include <coal/collision_object.h>

Inheritance diagram for coal::CollisionGeometry:

Public Member Functions
	CollisionGeometry ()
	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor.
virtual	~CollisionGeometry ()
virtual CollisionGeometry *	clone () const =0
	Clone *this into a new CollisionGeometry.
bool	operator== (const CollisionGeometry &other) const
	Equality operator.
bool	operator!= (const CollisionGeometry &other) const
	Difference operator.
virtual OBJECT_TYPE	getObjectType () const
	get the type of the object
virtual NODE_TYPE	getNodeType () const
	get the node type
virtual void	computeLocalAABB ()=0
	compute the AABB for object in local coordinate
void *	getUserData () const
	get user data in geometry
void	setUserData (void *data)
	set user data in geometry
bool	isOccupied () const
	whether the object is completely occupied
bool	isFree () const
	whether the object is completely free
bool	isUncertain () const
	whether the object has some uncertainty
virtual Vec3s	computeCOM () const
	compute center of mass
virtual Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin
virtual CoalScalar	computeVolume () const
	compute the volume
virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Public Attributes
Vec3s	aabb_center
	AABB center in local coordinate.
CoalScalar	aabb_radius
	AABB radius.
AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.
void *	user_data
	pointer to user defined data specific to this object
CoalScalar	cost_density
	collision cost for unit volume
CoalScalar	threshold_occupied
	threshold for occupied ( >= is occupied)
CoalScalar	threshold_free
	threshold for free (<= is free)

Detailed Description

The geometry for the object for collision or distance computation.

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The documentation for this class was generated from the following file:

• include/coal/collision_object.h